Saturations in the inner loop suggest that the proportional gain is too high and that some
rebalancing is needed. One possible remedy is to explicitly limit the gain from the speed
command to the outputs of the P and PI controllers. For a speed reference of 2000 rpm
and saturation limits of plus/minus 5, the average gain should not exceed 5/2000 =
0.0025. To be conservative, we can try to keep the gain from speed reference to controller
outputs below 0.001. To do this, add two gain requirements and retune the controller
gains with all three requirements in place.Limit gain from speed demand to control signals to avoid saturation by specifying two
new goals from Tuning tab. You need to select control signals from Simulink model since
they are not defined previously.13 Control System Tuning Examples